OPC UA 模块修改日志输出等级

.gitignore

@@ -20,7 +20,7 @@ devel
 *.jpg
 *.jpeg
 !rmvl-logo*
-!doc/img/*
+!doc/img/**
 
 # 模型文件
 *.onnx

modules/opcua/include/rmvl/opcua/method.hpp

@@ -105,18 +105,4 @@ struct Method final
 
 //! @} opcua
 
-namespace helper
-{
-
-/**
- * @brief `rm::Argument` 转化为 `UA_Argument`
- *
- * @warning 此方法一般不直接使用
- * @param[in] arg `rm::Argument` 表示的方法
- * @return `UA_Argument` 表示的方法
- */
-UA_Argument cvtArgument(const Argument &arg);
-
-} // namespace helper
-
 } // namespace rm

modules/opcua/include/rmvl/opcua/utilities.hpp

@@ -11,8 +11,9 @@
 
 #pragma once
 
-#include <string_view>
+#include <string>
 #include <typeindex>
+#include <string_view>
 #include <unordered_map>
 
 #include <open62541/types_generated_handling.h>
@@ -30,9 +31,10 @@ namespace rm
 //! @addtogroup opcua
 //! @{
 
+//! OPC UA 节点 ID
 struct NodeId final
 {
-    UA_NodeId nid{}; //!< 节点 ID
+    UA_NodeId nid{}; //!< open62541 的节点 ID 结构体
 
     //! 默认构造节点 ID
     NodeId() = default;
@@ -88,27 +90,27 @@ struct NodeId final
  */
 struct UserConfig final
 {
-    ::std::string id;     //!< 用户名
-    ::std::string passwd; //!< 密码
+    std::string id;     //!< 用户名
+    std::string passwd; //!< 密码
 };
 
 //! 类型标志位，可通过 `typeflag.at(xxx)` 进行获取
 using UA_TypeFlag = UA_UInt32;
 
 //! 获取形如 `UA_TYPES_<xxx>` 的类型标志位
 inline const std::unordered_map<std::type_index, UA_TypeFlag> typeflag =
-    {{::std::type_index(typeid(bool)), UA_TYPES_BOOLEAN},
-     {::std::type_index(typeid(int8_t)), UA_TYPES_SBYTE},
-     {::std::type_index(typeid(uint8_t)), UA_TYPES_BYTE},
-     {::std::type_index(typeid(UA_Int16)), UA_TYPES_INT16},
-     {::std::type_index(typeid(UA_UInt16)), UA_TYPES_UINT16},
-     {::std::type_index(typeid(UA_Int32)), UA_TYPES_INT32},
-     {::std::type_index(typeid(UA_UInt32)), UA_TYPES_UINT32},
-     {::std::type_index(typeid(UA_Int64)), UA_TYPES_INT64},
-     {::std::type_index(typeid(UA_UInt64)), UA_TYPES_UINT64},
-     {::std::type_index(typeid(UA_Float)), UA_TYPES_FLOAT},
-     {::std::type_index(typeid(UA_Double)), UA_TYPES_DOUBLE},
-     {::std::type_index(typeid(const char *)), UA_TYPES_STRING}};
+    {{std::type_index(typeid(bool)), UA_TYPES_BOOLEAN},
+     {std::type_index(typeid(int8_t)), UA_TYPES_SBYTE},
+     {std::type_index(typeid(uint8_t)), UA_TYPES_BYTE},
+     {std::type_index(typeid(UA_Int16)), UA_TYPES_INT16},
+     {std::type_index(typeid(UA_UInt16)), UA_TYPES_UINT16},
+     {std::type_index(typeid(UA_Int32)), UA_TYPES_INT32},
+     {std::type_index(typeid(UA_UInt32)), UA_TYPES_UINT32},
+     {std::type_index(typeid(UA_Int64)), UA_TYPES_INT64},
+     {std::type_index(typeid(UA_UInt64)), UA_TYPES_UINT64},
+     {std::type_index(typeid(UA_Float)), UA_TYPES_FLOAT},
+     {std::type_index(typeid(UA_Double)), UA_TYPES_DOUBLE},
+     {std::type_index(typeid(const char *)), UA_TYPES_STRING}};
 
 //! 传输协议
 enum class TransportID : uint8_t

modules/opcua/src/client.cpp

@@ -30,6 +30,13 @@ Client::Client(std::string_view address, UserConfig usr)
 {
     _client = UA_Client_new();
     UA_ClientConfig *config = UA_Client_getConfig(_client);
+    // 修改日志
+#if OPCUA_VERSION < 10400
+    config->logger = UA_Log_Stdout_withLevel(UA_LOGLEVEL_ERROR);
+#else
+    config->logging = UA_Log_Stdout_new(UA_LOGLEVEL_ERROR);
+#endif
+    // 设置默认配置
     auto status = UA_ClientConfig_setDefault(config);
     if (status == UA_STATUSCODE_GOOD)
     {
@@ -40,7 +47,7 @@ Client::Client(std::string_view address, UserConfig usr)
     }
     if (status != UA_STATUSCODE_GOOD)
     {
-        UA_LOG_ERROR(UA_Log_Stdout, UA_LOGCATEGORY_CLIENT, "Failed to create client");
+        ERROR_("Failed to create client");
         UA_Client_delete(_client);
         _client = nullptr;
     }
@@ -96,7 +103,7 @@ bool Client::write(const NodeId &node, const Variable &val)
     UA_Variant_clear(&new_variant);
     if (status != UA_STATUSCODE_GOOD)
     {
-        UA_LOG_ERROR(UA_Log_Stdout, UA_LOGCATEGORY_CLIENT, "Failed to write value to the specific node, error: %s", UA_StatusCode_name(status));
+        ERROR_("Failed to write value to the specific node, error: %s", UA_StatusCode_name(status));
         return false;
     }
     return true;
@@ -115,7 +122,7 @@ bool Client::call(const NodeId &obj_node, const std::string &name, const std::ve
     NodeId method_node = obj_node | find(name);
     if (method_node.empty())
     {
-        UA_LOG_ERROR(UA_Log_Stdout, UA_LOGCATEGORY_CLIENT, "Failed to find the method node: %s", name.c_str());
+        ERROR_("Failed to find the method node: %s", name.c_str());
         return false;
     }
     // 调用方法
@@ -125,7 +132,7 @@ bool Client::call(const NodeId &obj_node, const std::string &name, const std::ve
         UA_Variant_clear(&input_variant);
     if (status != UA_STATUSCODE_GOOD)
     {
-        UA_LOG_ERROR(UA_Log_Stdout, UA_LOGCATEGORY_CLIENT, "Failed to call the method, node id: %d, error code: %s",
+        ERROR_("Failed to call the method, node id: %d, error code: %s",
                      method_node.nid.identifier.numeric, UA_StatusCode_name(status));
         return false;
     }
@@ -150,7 +157,7 @@ NodeId Client::addViewNode(const View &view)
         UA_QUALIFIEDNAME(view.ns, helper::to_char(view.browse_name)), attr, &retval);
     if (status != UA_STATUSCODE_GOOD)
     {
-        UA_LOG_ERROR(UA_Log_Stdout, UA_LOGCATEGORY_CLIENT, "Failed to add view node, error: %s", UA_StatusCode_name(status));
+        ERROR_("Failed to add view node, error: %s", UA_StatusCode_name(status));
         return {};
     }
     // 添加引用
@@ -161,7 +168,7 @@ NodeId Client::addViewNode(const View &view)
         status = UA_Client_addReference(_client, retval, nodeOrganizes, true, UA_STRING_NULL, exp, UA_NODECLASS_VARIABLE);
         if (status != UA_STATUSCODE_GOOD)
         {
-            UA_LOG_ERROR(UA_Log_Stdout, UA_LOGCATEGORY_CLIENT, "Failed to add reference, error: %s", UA_StatusCode_name(status));
+            ERROR_("Failed to add reference, error: %s", UA_StatusCode_name(status));
             return {};
         }
     }
@@ -186,7 +193,7 @@ bool Client::monitor(NodeId node, UA_Client_DataChangeNotificationCallback on_ch
         _client, resp.subscriptionId, UA_TIMESTAMPSTORETURN_BOTH, request, &node, on_change, nullptr);
     if (result.statusCode != UA_STATUSCODE_GOOD)
     {
-        UA_LOG_ERROR(UA_Log_Stdout, UA_LOGCATEGORY_CLIENT, "Failed to create variable monitor, error: %s", UA_StatusCode_name(result.statusCode));
+        ERROR_("Failed to create variable monitor, error: %s", UA_StatusCode_name(result.statusCode));
         return false;
     }
     return true;
@@ -234,7 +241,7 @@ bool Client::monitor(NodeId node, const std::vector<std::string> &names, UA_Clie
         _client, sub_resp.subscriptionId, UA_TIMESTAMPSTORETURN_BOTH, request_item, &monitor_id, on_event, nullptr);
     if (result.statusCode != UA_STATUSCODE_GOOD)
     {
-        UA_LOG_ERROR(UA_Log_Stdout, UA_LOGCATEGORY_CLIENT, "Failed to create event monitor, error: %s", UA_StatusCode_name(result.statusCode));
+        ERROR_("Failed to create event monitor, error: %s", UA_StatusCode_name(result.statusCode));
         return false;
     }
     else
@@ -259,7 +266,7 @@ bool Client::createSubscription(UA_CreateSubscriptionResponse &response)
     response = UA_Client_Subscriptions_create(_client, request, nullptr, nullptr, nullptr);
     if (response.responseHeader.serviceResult != UA_STATUSCODE_GOOD)
     {
-        UA_LOG_ERROR(UA_Log_Stdout, UA_LOGCATEGORY_CLIENT, "Failed to create subscription, error: %s",
+        ERROR_("Failed to create subscription, error: %s",
                      UA_StatusCode_name(response.responseHeader.serviceResult));
         return false;
     }

modules/opcua/src/cvt.hpp

@@ -12,6 +12,7 @@
 #pragma once
 
 #include "rmvl/opcua/variable.hpp"
+#include "rmvl/opcua/method.hpp"
 
 namespace rm::helper
 {
@@ -43,4 +44,13 @@ Variable cvtVariable(const UA_Variant &p_val);
  */
 UA_Variant cvtVariable(const VariableType &vtype);
 
+/**
+ * @brief `rm::Argument` 转化为 `UA_Argument`
+ *
+ * @warning 此方法一般不直接使用
+ * @param[in] arg `rm::Argument` 表示的方法
+ * @return `UA_Argument` 表示的方法
+ */
+UA_Argument cvtArgument(const Argument &arg);
+
 } // namespace rm::helper

modules/opcua/src/helper.cpp

@@ -13,7 +13,6 @@
 #include <open62541/plugin/log_stdout.h>
 #include <open62541/server.h>
 
-#include "rmvl/opcua/method.hpp"
 #include "rmvl/opcua/utilities.hpp"
 
 #include "cvt.hpp"
@@ -58,8 +57,8 @@ NodeId operator|(NodeId origin, FindNodeInClient &&fnic)
         if (response.resultsSize == 1 && response.results[0].targetsSize == 1)
             return response.results[0].targets[0].targetId.nodeId;
 
-    UA_LOG_ERROR(UA_Log_Stdout, UA_LOGCATEGORY_CLIENT, "Failed to find node, name: %s, error code: %s",
-                 browse_name.c_str(), UA_StatusCode_name(response.responseHeader.serviceResult));
+    ERROR_("Failed to find node, name: %s, error code: %s",
+           browse_name.c_str(), UA_StatusCode_name(response.responseHeader.serviceResult));
     return {};
 }
 

modules/opcua/src/publisher.cpp

@@ -60,7 +60,7 @@ Publisher<TransportID::UDP_UADP>::Publisher(const std::string &pub_name, const s
     auto status = UA_Server_addPubSubConnection(_server, &connect_config, &_connection_id);
     if (status != UA_STATUSCODE_GOOD)
     {
-        UA_LOG_ERROR(UA_Log_Stdout, UA_LOGCATEGORY_SERVER, "Failed to add connection, \"%s\"", UA_StatusCode_name(status));
+        ERROR_("Failed to add connection, \"%s\"", UA_StatusCode_name(status));
         return;
     }
     //////////// 添加 PublishedDataSet (PDS) /////////////
@@ -71,7 +71,7 @@ Publisher<TransportID::UDP_UADP>::Publisher(const std::string &pub_name, const s
     auto pds_status = UA_Server_addPublishedDataSet(_server, &pds_config, &_pds_id);
     if (pds_status.addResult != UA_STATUSCODE_GOOD)
     {
-        UA_LOG_ERROR(UA_Log_Stdout, UA_LOGCATEGORY_SERVER, "Failed to add published dataset, \"%s\"",
+        ERROR_("Failed to add published dataset, \"%s\"",
                      UA_StatusCode_name(pds_status.addResult));
         return;
     }
@@ -104,7 +104,7 @@ bool Publisher<TransportID::UDP_UADP>::publish(const std::vector<PublishedDataSe
         auto result = UA_Server_addDataSetField(_server, _pds_id, &dsf_config, &dsf_node_id);
         if (result.result != UA_STATUSCODE_GOOD)
         {
-            UA_LOG_ERROR(UA_Log_Stdout, UA_LOGCATEGORY_SERVER, "Failed to add dataset field, name: \"%s\", status code: \"%s\"",
+            ERROR_("Failed to add dataset field, name: \"%s\", status code: \"%s\"",
                          pds.name.c_str(), UA_StatusCode_name(result.result));
             return false;
         }
@@ -130,13 +130,13 @@ bool Publisher<TransportID::UDP_UADP>::publish(const std::vector<PublishedDataSe
     auto status = UA_Server_addWriterGroup(_server, _connection_id, &wg_config, &_wg_id);
     if (status != UA_STATUSCODE_GOOD)
     {
-        UA_LOG_ERROR(UA_Log_Stdout, UA_LOGCATEGORY_SERVER, "Failed to add writer group, \"%s\"", UA_StatusCode_name(status));
+        ERROR_("Failed to add writer group, \"%s\"", UA_StatusCode_name(status));
         return false;
     }
     status = UA_Server_setWriterGroupOperational(_server, _wg_id);
     if (status != UA_STATUSCODE_GOOD)
     {
-        UA_LOG_ERROR(UA_Log_Stdout, UA_LOGCATEGORY_SERVER, "Failed to set writer group operational, \"%s\"",
+        ERROR_("Failed to set writer group operational, \"%s\"",
                      UA_StatusCode_name(status));
         return false;
     }
@@ -149,7 +149,7 @@ bool Publisher<TransportID::UDP_UADP>::publish(const std::vector<PublishedDataSe
     status = UA_Server_addDataSetWriter(_server, _wg_id, _pds_id, &dsw_config, &_dsw_id);
     if (status != UA_STATUSCODE_GOOD)
     {
-        UA_LOG_ERROR(UA_Log_Stdout, UA_LOGCATEGORY_SERVER, "Failed to add dataset writer, \"%s\"", UA_StatusCode_name(status));
+        ERROR_("Failed to add dataset writer, \"%s\"", UA_StatusCode_name(status));
         return false;
     }
     return true;